From 9eb889d30d07345de9f7d8f41240c94cb24c4638 Mon Sep 17 00:00:00 2001
From: "rmackay9@yahoo.com"
 <rmackay9@yahoo.com@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Thu, 23 Dec 2010 01:23:10 +0000
Subject: [PATCH] AP_RangeFinder - added support for MaxsonarLV and corrected
 some descriptions and links for the other rangefinders

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1234 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 libraries/AP_RangeFinder/AP_RangeFinder.h     |  1 +
 .../AP_RangeFinder_MaxsonarLV.cpp             | 67 +++++++++++++++++++
 .../AP_RangeFinder_MaxsonarLV.h               | 15 +++++
 .../AP_RangeFinder_MaxsonarXL.cpp             |  6 +-
 .../AP_RangeFinder_SharpGP2Y.cpp              |  2 +-
 .../AP_RangeFinder_test.pde                   |  3 +-
 libraries/AP_RangeFinder/keywords.txt         |  1 +
 7 files changed, 90 insertions(+), 5 deletions(-)
 create mode 100644 libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarLV.cpp
 create mode 100644 libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarLV.h

diff --git a/libraries/AP_RangeFinder/AP_RangeFinder.h b/libraries/AP_RangeFinder/AP_RangeFinder.h
index 0f1da2fc08..e578b8ccb2 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder.h
@@ -5,3 +5,4 @@
 
 #include "AP_RangeFinder_SharpGP2Y.h"
 #include "AP_RangeFinder_MaxsonarXL.h"
+#include "AP_RangeFinder_MaxsonarLV.h"
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarLV.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarLV.cpp
new file mode 100644
index 0000000000..d873d20442
--- /dev/null
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarLV.cpp
@@ -0,0 +1,67 @@
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 3; indent-tabs-mode: t -*-
+/*
+	AP_RangeFinder_MaxsonarLV.cpp - Arduino Library for Maxbotix's LV-MaxSonar 
+	Sonic proximity sensor
+	Code by Jose Julio and Randy Mackay. DIYDrones.com
+
+	This library is free software; you can redistribute it and/or
+    modify it under the terms of the GNU Lesser General Public
+    License as published by the Free Software Foundation; either
+    version 2.1 of the License, or (at your option) any later version.
+
+	Sparkfun URL: http://www.sparkfun.com/products/8502
+	datasheet: http://www.maxbotix.com/uploads/LV-MaxSonar-EZ0-Datasheet.pdf
+	
+	Sensor should be connected to one of the analog ports
+	
+	Variables:
+		int raw_value : raw value from the sensor
+		int distance : distance in cm
+		int max_distance : maximum measurable distance (in cm)
+		int min_distance : minimum measurable distance (in cm)
+	
+	Methods:
+		init(int analogPort) : Initialization of sensor
+		read() : read value from analog port and returns the distance (in cm)
+		
+*/
+
+// AVR LibC Includes
+#include "WConstants.h"
+#include "AP_RangeFinder_MaxsonarLV.h"
+
+// Public Methods //////////////////////////////////////////////////////////////
+void AP_RangeFinder_MaxsonarLV::init(int analogPort)
+{
+    // local variables
+    int i;
+	
+	// set the given analog port to an input
+	pinMode(analogPort, INPUT);
+	
+    // initialise everything
+    _analogPort = analogPort;
+	max_distance = AP_RANGEFINDER_MAXSONARLV_MAX_DISTANCE;
+	min_distance = AP_RANGEFINDER_MAXSONARLV_MIN_DISTANCE;
+	
+	// make first call to read to get initial distance
+	read();
+	
+	// initialise history
+	for( i=0; i<AP_RANGEFINDER_NUM_AVERAGES; i++ )
+	    _history[i] = distance;	
+}
+
+// Read Sensor data
+int AP_RangeFinder_MaxsonarLV::read()
+{
+    // read raw sensor value and convert to distance
+    raw_value = analogRead(_analogPort);
+	
+	// for this sensor, the sensor value is in inches, need to convert to cm
+	distance = raw_value * 2.54;
+	distance = constrain(distance,min_distance,max_distance);  // converts from inches to cm
+	
+	// return distance
+	return filter(distance);
+}
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarLV.h b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarLV.h
new file mode 100644
index 0000000000..11c02ab443
--- /dev/null
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarLV.h
@@ -0,0 +1,15 @@
+#ifndef AP_RangeFinder_MaxsonarLV_H
+#define AP_RangeFinder_MaxsonarLV_H
+
+#include "RangeFinder.h"
+
+#define AP_RANGEFINDER_MAXSONARLV_MIN_DISTANCE 15
+#define AP_RANGEFINDER_MAXSONARLV_MAX_DISTANCE 645
+
+class AP_RangeFinder_MaxsonarLV : public RangeFinder
+{	
+  public:
+	void init(int analogPort);
+	int read();   // read value from analog port and return distance in cm
+};
+#endif
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.cpp
index 10ceffd333..0a57bad937 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.cpp
@@ -9,14 +9,14 @@
     License as published by the Free Software Foundation; either
     version 2.1 of the License, or (at your option) any later version.
 
-	Sparkfun URL: http://www.sparkfun.com/products/9495
-	datasheet: http://www.sparkfun.com/datasheets/Sensors/Proximity/XL-EZ4-Datasheet.pdf
+	Sparkfun URL: http://www.sparkfun.com/products/9491
+	datasheet: http://www.sparkfun.com/datasheets/Sensors/Proximity/XL-EZ0-Datasheet.pdf
 	
 	Sensor should be connected to one of the analog ports
 	
 	Variables:
 		int raw_value : raw value from the sensor
-		int distance : distance in meters
+		int distance : distance in cm
 		int max_distance : maximum measurable distance (in cm)
 		int min_distance : minimum measurable distance (in cm)
 	
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.cpp
index 975883cdec..a49b68f520 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.cpp
@@ -16,7 +16,7 @@
 	
 	Variables:
 		int raw_value : raw value from the sensor
-		int distance : distance in meters
+		int distance : distance in cm
 		int max_distance : maximum measurable distance (in cm)
 		int min_distance : minimum measurable distance (in cm)
 	
diff --git a/libraries/AP_RangeFinder/examples/AP_RangeFinder_test/AP_RangeFinder_test.pde b/libraries/AP_RangeFinder/examples/AP_RangeFinder_test/AP_RangeFinder_test.pde
index 521bf23a1d..20ad6f5ae4 100644
--- a/libraries/AP_RangeFinder/examples/AP_RangeFinder_test/AP_RangeFinder_test.pde
+++ b/libraries/AP_RangeFinder/examples/AP_RangeFinder_test/AP_RangeFinder_test.pde
@@ -8,8 +8,9 @@
 #define RF_PIN A5 // the far back-right pin on the oilpan (near the CLI switch)
 
 // create the range finder object
-AP_RangeFinder_SharpGP2Y aRF;
+//AP_RangeFinder_SharpGP2Y aRF;
 //AP_RangeFinder_MaxsonarXL aRF;
+AP_RangeFinder_MaxsonarLV aRF;
 
 void setup()
 {
diff --git a/libraries/AP_RangeFinder/keywords.txt b/libraries/AP_RangeFinder/keywords.txt
index e7055b1e52..3d279b17cd 100644
--- a/libraries/AP_RangeFinder/keywords.txt
+++ b/libraries/AP_RangeFinder/keywords.txt
@@ -2,6 +2,7 @@ RangeFinder	KEYWORD1
 AP_RangeFinder	KEYWORD1
 AP_RangeFinder_SharpGP2Y	KEYWORD1
 AP_RangeFinder_MaxsonarXL	KEYWORD1
+AP_RangeFinder_MaxsonarLV	KEYWORD1
 init	KEYWORD2
 read	KEYWORD2
 filter	KEYWORD2